针对双输入双输出稳定过程,提出一种新的解耦内模控制设计方法。综合解耦和

稳态误差两方面因素,利用对象传递函数模型行列式的静态增益及次对角元素与同行相应主

对角元素之商的不合理部分(即不稳定极点和纯超前部分)的逆来设计控制器

-For the two-input dual-output stabilization process, a new decoupling internal model control design methods. Integrated decoupling and steady-state error of two factors, the use of the object transfer function model of the determinant of the static gain and sub-diagonal elements with the corresponding counterparts of the main diagonal elements of the irrational part of the business (ie the unstable poles and pure ahead in part) inverse to design controller